Methods and devices for deep vein thrombosis prevention

ABSTRACT

Portable devices and methods for preventing deep vein thrombosis (DVT) by assuring that the ankle is flexed and extended sufficiently to promote blood flow in the lower leg are disclosed. The device includes an actuator with a free movement mode that allows a patient to move freely between activations or to initiate movement to delay a next automatic activation.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.15/273,525, filed Sep. 22, 2016, titled “METHODS AND DEVICES FOR DEEPVEIN THROMBOSIS PREVENTION,” which is a continuation of U.S. patentapplication Ser. No. 13/683,503, filed Nov. 21, 2012, titled “METHODSAND DEVICES FOR DEEP VEIN THROMBOSIS PREVENTION,” now U.S. PatentApplication Publication No. 2013/0079687, which is a divisionalapplication of U.S. patent application Ser. No. 11/932,799, filed Oct.31, 2007, titled “METHODS AND DEVICES FOR MOVING A BODY JOINT,” now U.S.Pat. No. 8,353,854, which claims priority to U.S. Provisional PatentApplication No. 60/901,614, filed Feb. 14, 2007, titled “DEEP VEINTHROMBOSIS PREVENTION DEVICE,” the contents of which are expresslyincorporated by reference herein.

INCORPORATION BY REFERENCE

All publications and patent applications mentioned in this specificationare herein incorporated by reference to the same extent as if eachindividual publication or patent application was specifically andindividually indicated to be incorporated by reference.

Deep Vein Thrombosis (DVT) is the formation of a thrombus (clot) in adeep vein in a leg. The clot can block blood flow in the leg, or theclot may travel to the lungs causing a potentially fatal pulmonaryembolism. The incidence of DVT is particularly high after hip or kneesurgery, but may occur whenever patients are immobilized over a periodof time. DVT occurrence is known to be high after lower extremityparalysis due to stroke or injury and is also a risk factor inpregnancy, obesity, and other conditions.

Current techniques for avoiding DVT have drawbacks. For example, bloodthinning drugs have side effects, elastic stockings and compressiondevices have limited effectiveness, while compression and exercisedevices have limited patient compliance. Active or passive movement ofthe ankle, alone or in combination with other DVT avoidance techniques,can reduce the incidence of DVT; however there has been no device toassure adequate movement that is acceptable to hospital patients andstaff.

SUMMARY OF THE INVENTION

The present invention teaches a variety of methods, techniques anddevices for preventing deep vein thrombosis (DVT). According to oneembodiment, a DVT prevention device is attached to a patient's ankle, orany portion of any limb, to deliver active or passive movement topromote blood flow in the lower extremities. According to certainaspects, the DVT prevention device includes a battery or AC-poweredactuator, an embedded computer, a software control system, sensors, anda coupling to the ankle and the foot.

According to another embodiment, a DVT prevention device operates in oneor more modes to supply 1) passive extension and flexion of the ankle,2) active extension and flexion of the ankle, and 3) free movement ofthe ankle. Patient compliance may be enhanced by allowing the patient todetermine the preferred mode of operation; the device assures adequatetotal movement over a period of time by supplying passive movement whennecessary. For example, the patient may perform enough movements infree-movement mode to delay future activations of the device, or thepatient may actively resist the movement to exercise the calf musclesand promote enhanced blood flow beyond that of passive movement.

According to yet another aspect of the present invention, the presentinvention may include an output connection to allow the patient'sextension and flexion of the ankle to serve as a human interface devicesimilar to a computer mouse. If coupled to a web browser or computergame, the device can serve the dual role of preventing DVT and helpingthe patient to pass time more quickly. Such a device can also serve asthe primary input device to those with arm or hand disabilities and maytend to avoid or mitigate carpal tunnel syndrome.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram of electronics and an embedded computer thatcontrols a deep vein THROMBOSIS (DVT) prevention device according to anembodiment of the present invention.

FIG. 2a shows a front view of a DVT prevention device attached to theleg of a patient according to an embodiment of the present invention.

FIG. 2b shows a side view of the DVT prevention device of FIG. 2a nearthe flexion limit.

FIG. 2c shows a side view of the DVT prevention device near theextension limit.

FIG. 3. shows a continuously variable actuator according to anotheraspect of the present invention that may be used to construct a DVTprevention device.

FIG. 4. shows a single-motor actuator with a free movement modeaccording to another embodiment of the present invention.

FIG. 5. shows a single-motor actuator as attached to an ankle accordingto a further embodiment of the present invention.

FIG. 6. is a flowchart of a method for the prevention of DVT accordingto one aspect of the present invention.

DETAILED DESCRIPTION

FIG. 1 shows a block diagram of a deep vein THROMBOSIS (DVT) preventiondevice 100 according to an embodiment of the present invention. Anembedded microcontroller 102 is programmed to accept input from one ormore sensors such as joint angle sensor 104 and a force (e.g., current)sensor 106. The embedded microcontroller 102 may also be coupled to acontrol panel 108. The control panel 108 may be for use by a patient, adoctor, or other health care provider. The embedded microcontroller 102is operable to produce outputs for power drivers 112 to control themotion of one or more actuators 114.

With further reference to FIG. 1, power is supplied to the DVTprevention device 100 through an actuator power supply 116. Power maycome through a battery 118 or from an AC adapter 120. In one embodiment,the battery 118 is wirelessly recharged by inductive coupling to a padconveniently placed, such as at the foot of a hospital bed. Such awireless recharge device has been announced by Wildcharge at the 2007Consumer Electronics show.

In certain embodiments, such as cases where the patient can supplysignificant force to exercise the ankle, the battery chargingrequirements may be reduced or eliminated by recharging the battery fromenergy captured from running the actuator 114 as backdriven motorgenerator. This may provide an extra incentive to the patient toexercise, especially if the amount of exercise is recorded and presentedto the patient, the patient's family and the hospital staff.

The control panel 108 may be as simple as an on/off switch, or mayinclude switches and displays to allow adjustments for the range ofmotion, minimum repetition frequency, movement statistics, batterycharge, and the like.

One embodiment includes a USB or wireless connection 122 to allow theDVT prevention device 100, or a pair of devices (e.g., one device eachon the left and right ankles), to act as a human interface device (HID)that may be connected, for instance, to a PC. For example, the rightankle position may determine the left/right location of a computercurser and the left ankle position may determine the up/down location ofthe curser. When a patient uses the computer, for instance to surf theinternet or play a game, the ankles must be flexed and extended, and inthe process the blood flow to the leg is enhanced. The computerconnection may significantly enhance patient compliance, which is amajor problem with existing compression devices.

FIG. 2 shows three views of a DVT prevention device 200, according toanother embodiment of the present invention, attached to an ankle 202.An actuator 204 is attached to upper and lower ankle attachment pointssuch that activation of the actuator 204 may extend or flex the ankle202. FIG. 2a shows a front view of the DVT prevention device 200, FIG.2b shows a side view of the DVT prevention device 200 near a flexionlimit, and FIG. 2c shows a side view of the DVT prevention device 200near an extension limit. The limits may be programmatically orphysically limited within the patient's range of motion. As will beappreciated, a typical extension limit (also known as Planar Flexion) isabout 45 degrees from the standing position of the ankle, and a typicalflexion limit (also known as Doral Flexion) is about −20 degrees fromthe standing position.

With further reference to FIG. 2, a rigid foot support structure 206 isplaced under the foot and a rigid ankle support 208 structure is placedbehind the calf. The two support structures 206 and 208 are connected toeach other with a hinge 210. The actuator 204 is mounted to the upperrigid structure 208. Straps or padded supports 212 hold the anklesupport structure 208 and actuator 204 to the lower leg. An output shaft214 of the actuator 204 is connected to a linkage 216 attached to thefoot support structure 206. One or more straps 212 hold the foot supportstructure 206 to the foot.

FIG. 3 shows a continuously variable actuator 300 suitable for use as anactuator according to certain embodiments of the present invention. Onesuitable example of the continuously variable actuator is described inmore detail in the Horst et al.'s U.S. patent application Ser. No.11/649,493, filed Jan. 3, 2007, the contents of which are incorporatedherein by reference. The actuator 300 uses a flexible belt 302 connectedby belt supports 304 and 306, two motor-driven lead screws 308 and 310driven by motors 312 and 314, respectively, and a motor driven cam 316driven by motor 318 to provide variable drive ratio forces in eitherdirection or to allow the output shaft 320 to move in a free-movementmode. Also shown are two driven carriages 322 and 324, and two passivecarriages 326 and 328.

FIG. 4 shows a single-motor actuator 400 suitable for use as an actuatoraccording to another embodiment the present invention. In thesingle-motor actuator 400, a motor 402, which may have an internal gearhead, drives a lead screw 404 to move a nut 406 linearly. The lead screw404 may be an acme screw, a ball screw with a ball nut for lowerfriction and higher motor efficiency, or any other suitable screw. Theball nut 406 is always between a flexion stop 408 and an extension stop410 connected to an output shaft 412. When the ball nut 406 is in acenter of travel, the output shaft 412 is free to move linearly ineither direction without having movement impeded by interaction with theball nut 406. This position provides free movement of the output shaft412, and likewise free movement of the ankle or other relevant bodypart, even with no power applied to the actuator 400. When it is time toextend or flex the ankle, the ball screw 404 is turned to move the ballnut 406 to the left or the right where the ball nut 406 eventuallypushes against the flexion or extension stop. Further movement of theball nut 406 in the same direction moves the flexion stop 408 or theextension stop 410, and hence moves the output shaft 412, thus causingthe ankle to flex or extend, respectively. The output shaft 412 issupported by one or more linear bearings 414 allowing the output shaft412 to move freely in one dimension while preventing substantialmovement or twisting in other dimensions

To further elaborate, lead screws include types of screws such as acmescrews and ball screws. Ball screws have nuts with recirculating ballbearings allowing them to be backdriven more easily than acme screws.When using a ball screw, motion of the nut causes the lead screw andhence the motor to rotate. Therefore, when the ball nut is engaged byone of the stops, the patient may exercise the leg muscles by extendingor flexing the foot to cause motion of the output shaft and hence causemotion of the motor. Exercise may be accomplished either by resistingthe passive motions imparted by the actuator, or through a separateexercise mode where all motion is caused by the patient. In either case,software running in the embedded processor controls the amount ofcurrent delivered to/from the motor and therefore the amount of exerciseresistance

FIG. 5 shows the single motor actuator 400 of FIG. 4 attached to anankle support 212 and coupled to a foot support 206 through a linkage216. The ball screw 404 in the actuator 400 is shown in a position aboutto extend the ankle by pushing to the right. Near the extension andflexion limits, some compliance may be built in to provide more comfortto the patient and to assure that there is no possibility of injuringthe patent. This may be accomplished by springs in the actuator 400 orsprings in the linkage 216, or both (not shown), that expand or compressbefore damaging forces are applied

To further elaborate, a free-movement mode of the actuator 400 allowsthe patient to move the ankle with little resistance. The free movementmode obviates the need to remove the DVT prevention device when walking(for instance, to the restroom); this improves patient compliancebecause there is no need for the patient or hospital staff to remove andreattach the DVT protection device frequently.

FIG. 6 is a flowchart of a method for operating a device in theprevention of DVT according to one embodiment of the present invention.In step 602, a person such as a medical professional sets up the devicewith appropriate limits for range of motion and minimum time betweenankle movements. This step 602 may also be performed automatically.Then, in step 604, a DVT prevention device is attached to one or bothankles of the patient, and if necessary the device is turned on. In step606, a test is made to determine if too much time has elapsed since thelast flexion of the ankle. If the predefined time limit between flexionhas been exceeded, step 608 runs a device actuator through oneflexion/extension cycle or other suitable sequence. This cycle may bepurely passive motion, or the patient may actively resist tending tocause more blood flow. If the time limit has not been exceeded or if thecycle is at the end of the passive or active movement cycle, theactuator is put into free movement mode in step 610. Finally, in step612, the movements of the ankle are monitored to help determine theappropriate time for the next movement. Step 612 is followed by step606, repeating the sequence until the prevention method stops, thedevice is removed, or the device is turned off.

In the flowchart of FIG. 6, step 606 determines if the specified timehas elapsed in order to initiate movement of the ankle. The “specifiedtime” can be determined by any suitable manner including one or more ofany of the following ways: [0029] 1. A fixed elapsed time since the lastankle movement [0030] 2. A moving average over time of the frequency ofankle movements. [0031] 3. A dynamic algorithm that approximates bloodflow in the leg by taking into account the frequency of movement, theintensity of active movement, and the patients age and condition.

A fixed time algorithm is simplest to implement, but may move the anklemore than necessary. Using a frequency of movement algorithm, thepatient can have more control and has more positive feedback forinitiating movements beyond the minimum. A dynamic algorithm rewardspatient-initiated exercise (resisting the passive movement) and alsocustomizes the frequency of movement based on the patient's condition.The algorithm can be determined through clinical studies of differentpatients using the device while monitoring blood flow.

The invention is not limited to the specific embodiments described. Forexample, actuators need only have a way to move and allow free movementof the ankle and need not have strictly linear movement. The actuatormay be driven from a brushed or brushless motor or may be activatedthrough pneumatics, hydraulics, piezoelectric activation, electro-activepolymers or other artificial muscle technology. The usage of the deviceis not confined to hospitals but also may be beneficial to thosebedridden in nursing homes or at home. The device may also be beneficialto avoid DVT for those traveling long distances by airplane, automobileor train.

1. (canceled)
 2. A device for free or controlled movement of a joint ofa user, comprising: a portable power supply; an embedded controllerpowered by the portable power supply; an actuator having an output shaftcoupled to a first attachment and a second attachment, the actuatorcontrolled by the embedded controller to deliver a variable drive forceoutput mode for a first direction, a free-movement mode, and a variabledrive force output mode in a second direction that is the opposite ofthe first direction; and a hinged connection coupling the firstattachment and the second attachment; wherein the first attachment isconfigured for coupling to the output shaft and to a first portion ofthe user and the second attachment is configured for coupling to theoutput shaft and to a second portion of the user.
 3. The device of claim2 further comprising a force sensor configured to provide an indicationto the embedded controller related to the variable drive force in thefirst direction, the variable drive force in the second direction or aforce generated while in the free movement mode.
 4. The device of claim2 further comprising a wireless charger with a portable power supply. 5.The device of claim 2 further comprising a connection port configuredfor wireless communication between a control unit and the embeddedcontroller.
 6. The device of claim 2 the actuator further comprising afirst motor driven lead screw, a second motor driven lead screw and amotor driven cam coupled to the first motor driven lead screw and thesecond motor driven lead screw wherein coordinated operation of thefirst motor driven lead screw, the second motor driven lead screw andthe motor driven cam drive the motion of output shaft.
 7. The device ofclaim 6 wherein the motion of the output shaft is in the first directionand drives relative movement of the first attachment point and thesecond attachment point relative to the hinge to cause flexion of ajoint of the user between the first attachment point and the secondattachment point.
 8. The device of claim 7 wherein the embeddedcontroller collects and stores in memory data related to the movement ofthe actuator in the first direction.
 9. The device of claim 6 whereinthe motion of the output shaft is in the second direction and drivesrelative movement of the first attachment point and the secondattachment point relative to the hinge to cause extension of a joint ofthe user between the first attachment point and the second attachmentpoint.
 10. The device of claim 9 wherein the embedded controllercollects and stores in memory data related to the movement of theactuator in the second direction.
 11. The device of claim 6 wherein themotion of the output shaft is in a free motion mode and the actuatorpermits relative movement of the first attachment point and the secondattachment point relative to the hinge to permit user initiated movementof a joint of the user between the first attachment point and the secondattachment point.
 12. The device of claim 11 wherein the embeddedcontroller collects and stores in memory data related to the movement ofthe actuator in the free motion mode.
 13. The device of claim 3 furthercomprising a joint angle sensor in communication with the embeddedcontroller and positioned to measure the angle between the firstattachment or the second attachment or the movement of the hinge. 14.The device of claim 3 wherein the first attachment is adapted forsecurement to a superior aspect of a joint and the second attachment isadapted for securement to an inferior aspect of a joint.
 15. The deviceof claim 3 wherein the joint is a joint of the leg.
 16. The device ofclaim 15 wherein the joint of the leg is an ankle.
 17. The device ofclaim 15 wherein the joint of the leg is a knee.